calc_min_bound_dists

calc_min_bound_dists(trajectory, bound1, bound2, length_veh, width_veh)

Created by: Alexander Heilmeier

Documentation: Calculate minimum distance between vehicle and track boundaries for every trajectory point. Vehicle dimensions are taken into account for this calculation. Vehicle orientation is assumed to be the same as the heading of the trajectory.

Inputs: trajectory: array containing the trajectory information. Required are x, y, psi for every point bound1/2: arrays containing the track boundaries [x, y] length_veh: real vehicle length in m width_veh: real vehicle width in m

Outputs: min_dists: minimum distance to boundaries for every trajectory point